Waymo Research

Advancing the state of the art in autonomous driving

Check out our latest publications, and explore the Waymo Open Dataset, which we released to support cutting-edge autonomous driving research.

Research Papers

96 results found

SceneDiffuser++: City-Scale Traffic Simulation via a Generative World Model
Authors
- Shuhan Tan,
- John Lambert,
- Hong Jeon,
- Sakshum Kulshrestha,
- Yijing Bai,
- Jing Luo,
- Dragomir Anguelov,
- Mingxing Tan,
- Chiyu Max Jiang
Filters:
- 2025,
- CVPR,
- Simulation
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SceneCrafter: Controllable Multi-View Driving Scene Editing
Authors
- Zehao Zhu,
- Yuliang Zou,
- Chiyu Max Jiang,
- Bo Sun,
- Vincent Casser,
- Xiukun Huang,
- Jiahao Wang,
- Zhenpei Yang,
- Ruiqi Gao,
- Leonidas Guibas,
- Mingxing Tan,
- Dragomir Anguelov
Filters:
- 2025,
- CVPR,
- Simulation
Download PDF
Scaling Laws of Motion Forecasting and Planning
Authors
- Mustafa Baniodeh,
- Kratarth Goel,
- Scott Ettinger,
- Carlos Fuertes,
- Ari Seff,
- Tim Shen,
- Cole Gulino,
- Chenjie Yang,
- Ghassen Jerfel,
- Dokook Choe,
- Rui Wang,
- Vinutha Kallem,
- Sergio Casas,
- Rami Al-Rfou,
- Benjamin Sapp,
- Dragomir Anguelov
Filters:
- 2025,
- Behavior Prediction,
- General Machine Learning,
- Scaling,
- arXiv
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S4-Driver: Scalable Self-Supervised Driving Multimodal Large Language Model with Spatio-Temporal Visual Representation
Authors
- Yichen Xie,
- Runsheng Xu,
- Tong He,
- Jyh-Jing Hwang,
- Katie Luo,
- Jingwei Ji,
- Hubert Lin,
- Letian Chen,
- Yiren Lu,
- Zhaoqi Leng,
- Dragomir Anguelov,
- Mingxing Tan
Filters:
- 2025,
- CVPR,
- End-to-End Driving
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SceneDiffuser: Efficient and Controllable Driving Simulation Initialization and Rollout
Authors
- Chiyu Max Jiang,
- Yijing Bai,
- Andre Cornman,
- Christopher Davis,
- Xiukun Huang,
- Hong Jeon,
- Sakshum Kulshresth,
- John Lambert,
- Shuangyu Li,
- Xuanyu Zhou,
- Carlos Fuertes,
- Chang Yuan,
- Mingxing Tan,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- 2024,
- NeurIPS,
- Simulation
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EMMA: End-to-End Multimodal Model for Autonomous Driving
Authors
- Jyh-Jing Hwang,
- Runsheng Xu,
- Hubert Lin,
- Wei-Chih Hung,
- Jingwei Ji,
- Kristy Choi,
- Di Huang,
- Tong He,
- Paul Covington,
- Benjamin Sapp,
- Yin Zhou,
- James Guo,
- Dragomir Anguelov,
- Mingxing Tan
Filters:
- 2024,
- Perception,
- Planning,
- arXiv
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Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling
Authors
- Aman Sinha,
- Payam Nikdel,
- Supratik Paul,
- Shimon Whiteson
Filters:
- CoRL,
- General Machine Learning,
- 2024
Download PDF
Improving Agent Behaviors with RL Fine-tuning for Autonomous Driving
Authors
- Zhenghao Peng,
- Wenjie Luo,
- Yiren Lu,
- Tianyi Shen,
- Cole Gulino,
- Ari Seff,
- Justin Fu
Filters:
- ECCV,
- 2024,
- Simulation
Download PDF
3D Open-Vocabulary Panoptic Segmentation with 2D-3D Vision-Language Distillation
Authors
- Zihao Xiao,
- Longlong Jing,
- Shangxuan Wu,
- Alex Zihao Zhu,
- Jingwei Ji,
- Chiyu Max Jiang,
- Wei-Chih Hung,
- Thomas Funkhouser,
- Anelia Angelova,
- Weicheng Kuo,
- Yin Zhou,
- Shiwei Sheng
Filters:
- 2024,
- ECCV,
- Perception
Download PDF
PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection
Authors
- Zhaoqi Leng,
- Pei Sun,
- Tong He,
- Dragomir Anguelov,
- Mingxing Tan
Filters:
- 2024,
- Perception,
- ICRA
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UniGen: Unified Modeling of Initial Agent States and Trajectories for Generating Autonomous Driving Scenarios
Authors
- Reza Mahjourian,
- Rongbing Mu,
- Valerii Likhosherstov,
- Paul Mougin,
- Xiukun Huang,
- Joao Messias,
- Shimon Whiteson
Filters:
- 2024,
- ICRA,
- Simulation
Download PDF
STT: Stateful Tracking with Transformers for Autonomous Driving
Authors
- Longlong Jing,
- Ruichi Yu,
- Xu Chen,
- Zhengli Zhao,
- Shiwei Sheng,
- Colin Graber,
- Qi Chen,
- Qinru Li,
- Shangxuan Wu,
- Han Deng,
- Sangjin Lee,
- Chris Sweeney,
- Qiurui He,
- Wei-Chih Hung,
- Tong He,
- Xingyi Zhou,
- Farshid Moussavi,
- Zijian Guo,
- Yin Zhou,
- Mingxing Tan,
- Weilong Yang,
- Congcong Li
Filters:
- 2024,
- Perception,
- ICRA
Download PDF
Scaling Motion Forecasting Models with Ensemble Distillation
Authors
- Scott Ettinger,
- Kratarth Goel,
- Avikalp Srivastava,
- Rami Al-Rfou
Filters:
- 2024,
- ICRA,
- Behavior Prediction
Download PDF
MoST: Multi-modality Scene Tokenization for Motion Prediction
Authors
- Norman Mu,
- Jingwei Ji,
- Zhenpei Yang,
- Nate Harada,
- Haotian Tang,
- Kan Chen,
- Charles R. Qi,
- Runzhou Ge,
- Kratarth Goel,
- Zoey Yang,
- Scott Ettinger,
- Rami Al-Rfou,
- Dragomir Anguelov,
- Yin Zhou
Filters:
- 2024,
- Perception,
- CVPR
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Waymax: An Accelerated, Data-Driven Simulator forLarge-Scale Autonomous Driving Research
Authors
- Cole Gulino,
- Justin Fu,
- Wenjie Luo,
- George Tucker,
- Eli Bronstein,
- Yiren Lu,
- Jean Harb,
- Xinlei Pan,
- Yan Wang,
- Xiangyu Chen,
- JD Co-Reyes,
- Rishabh Agarwal,
- Becca Roelofs,
- Yao Lu,
- Nico Montali,
- Paul Mougin,
- Zoey Yang,
- Brandyn White,
- Aleksandra Faust,
- Ben Sapp,
- Dragomir Anguelov
Filters:
- 2023,
- Planning,
- Simulation,
- Behavior Prediction,
- NeurIPS
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Superpixel Transformers for Efficient Semantic Segmentation
Authors
- Alex Zihao Zhu,
- Jieru Mei,
- Siyuan Qiao,
- Hang Yan,
- Yukun Zhu,
- Liang-Chieh Chen,
- Henrik Kretzschmar
Filters:
- 2023,
- ICCV,
- Perception
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MotionLM: Multi-Agent Motion Forecasting as Language Modeling
Authors
- Ari Seff,
- Brian Cera,
- Dian Chen,
- Mason Ng,
- Aurick Zhou,
- Nigamaa Nayakanti,
- Khaled S. Refaat,
- Rami Al-Rfou,
- Benjamin Sapp
Filters:
- 2023,
- ICCV,
- Behavior Prediction
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Unsupervised 3D Perception with 2D Vision-Language Distillation for Autonomous Driving
Authors
- Mahyar Najibi,
- Jingwei Ji,
- Yin Zhou,
- Charles R. Qi,
- Xinchen Yan,
- Scott Ettinger,
- Dragomir Anguelov
Filters:
- 2023,
- ICCV,
- Perception
Download PDF
LEF: Late-to-Early Temporal Fusion for LiDAR 3D Object Detection
Authors
- Tong He,
- Pei Sun,
- Zhaoqi Leng,
- Chenxi Liu,
- Dragomir Anguelov,
- Mingxing Tan
Filters:
- IROS,
- 2023,
- Perception
Download PDF
Hierarchical Imitation Learning for Stochastic Environments
Authors
- Maximilian Igl,
- Punit Shah,
- Paul Mougin,
- Sirish Srinivasan,
- Tarun Gupta,
- Brandyn White,
- Kyriacos Shiarlis,
- Shimon Whiteson
Filters:
- 2023,
- IROS,
- Simulation,
- General Machine Learning
Download PDF
The Waymo Open Sim Agents Challenge
Authors
- Nico Montali,
- John Lambert,
- Paul Mougin,
- Alex Kuefler,
- Nick Rhinehart,
- Michelle Li,
- Cole Gulino,
- Tristan Emrich,
- Zoey Yang,
- Shimon Whiteson,
- Brandyn White,
- Dragomir Anguelov
Filters:
- 2023,
- Simulation,
- NeurIPS
Download PDF
GINA-3D: Learning to Generate Implicit Neural Assets in the Wild
Authors
- Bokui Shen,
- Xinchen Yan,
- Charles R. Qi,
- Mahyar Najibi,
- Boyang Deng,
- Leonidas Guibas,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- 2023,
- Perception,
- CVPR,
- Simulation
Download PDF
MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusion
Authors
- Chiyu Max Jiang,
- Andre Cornman,
- Cheolho Park,
- Ben Sapp,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- 2023,
- CVPR,
- Behavior Prediction
Download PDF
NeRDi: Single-View NeRF Synthesis with Language-Guided Diffusion as General Image Priors
Authors
- Congyue Deng,
- Chiyu Max Jiang,
- Charles R. Qi,
- Xinchen Yan,
- Yin Zhou,
- Leonidas Guibas,
- Dragomir Anguelov
Filters:
- 2023,
- CVPR,
- Perception
Download PDF
3D Human Keypoints Estimation From Point Clouds in the Wild Without Human Labels
Authors
- Zhenzhen Weng,
- Alexander Gorban,
- Jingwei Ji,
- Mahyar Najibi,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- 2023,
- Perception,
- CVPR
Download PDF
MoDAR: Using Motion Forecasting for 3D Object Detection in Point Cloud Sequences
Authors
- Yingwei Li,
- Charles R. Qi,
- Yin Zhou,
- Chenxi Liu,
- Dragomir Anguelov
Filters:
- 2023,
- Perception,
- CVPR
Download PDF
Pedestrian Crossing Action Recognition and Trajectory Prediction with 3D Human Keypoints
Authors
- Jiachen Li,
- Xinwei Shi,
- Feiyu Chen,
- Jonathan Stroud,
- Zhishuai Zhang,
- Tian Lan,
- Junhua Mao,
- Jeonhyung Kang,
- Khaled S. Refaat,
- Weilong Yang,
- Eugene Ie,
- Congcong Li
Filters:
- 2023,
- Perception,
- ICRA
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Wayformer: Motion Forecasting via Simple & Efficient Attention Networks
Authors
- Nigamaa Nayakanti,
- Rami Al-Rfou,
- Aurick Zhou,
- Kratarth Goel,
- Khaled S. Refaat,
- Benjamin Sapp
Filters:
- Behavior Prediction,
- 2023,
- ICRA
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LidarAugment: Searching for Scalable 3D LiDAR Data Augmentations
Authors
- Zhaoqi Leng,
- Guowang Li,
- Chenxi Liu,
- Ekin Dogus Cubuk,
- Pei Sun,
- Tong He,
- Dragomir Anguelov,
- Mingxing Tan
Filters:
- Perception,
- ICRA,
- 2023
Download PDF
WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting
Authors
- Kan Chen,
- Runzhou Ge,
- Hang Qiu,
- Rami Al-Rfou,
- Charles R. Qi,
- Xuanyu Zhou,
- Zoey Yang,
- Scott Ettinger,
- Pei Sun,
- Zhaoqi Leng,
- Mustafa Baniodeh,
- Ivan Bogun,
- Weiyue Wang,
- Mingxing Tan,
- Dragomir Anguelov
Filters:
- Perception,
- Behavior Prediction,
- ICRA,
- 2024
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Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios
Authors
- Yiren Lu,
- Justin Fu,
- George Tucker,
- Xinlei Pan,
- Eli Bronstein,
- Becca Roelofs,
- Benjamin Sapp,
- Aleksandra Faust,
- Brandyn White,
- Shimon Whiteson,
- Dragomir Anguelov,
- Sergey Levine
Filters:
- 2023,
- General Machine Learning,
- Planning,
- IROS
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HUM3DIL: Semi-supervised Multi-modal 3D Human Pose Estimation for Autonomous Driving
Authors
- Andrei Zanfir,
- Mihai Zanfir,
- Alexander Gorban,
- Jingwei Ji,
- Yin Zhou,
- Dragomir Anguelov,
- Cristian Sminchisescu
Filters:
- 2022,
- CoRL,
- Perception
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JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Driving
Authors
- Wenjie Luo,
- Cheolho Park,
- Andre Cornman,
- Benjamin Sapp,
- Dragomir Anguelov
Filters:
- 2022,
- CoRL,
- Planning
Download PDF
Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula
Authors
- Eli Bronstein,
- Sirish Srinivasan,
- Supratik Paul,
- Aman Sinha,
- Matthew O'Kelly,
- Payam Nikdel,
- Shimon Whiteson
Filters:
- 2022,
- CoRL,
- Planning
Download PDF
Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving
Authors
- Angad Singh,
- Omar Makhlouf,
- Maximilian Igl,
- Joao Messias,
- Arnaud Doucet,
- Shimon Whiteson
Filters:
- 2022,
- CoRL,
- Planning
Download PDF
Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving
Authors
- Eli Bronstein,
- Mark Palatucci,
- Dominik Notz,
- Brandyn White,
- Alex Kuefler,
- Yiren Lu,
- Supratik Paul,
- Payam Nikdel,
- Paul Mougin,
- Hongge Chen,
- Justin Fu,
- Austin Abrams,
- Punit Shah,
- Evan Racah,
- Benjamin Frenkel,
- Shimon Whiteson,
- Dragomir Anguelov
Filters:
- 2022,
- Planning,
- IROS
Download PDF
Improving the Intra-class Long-tail in 3D Detection via Rare Example Mining
Authors
- Chiyu Max Jiang,
- Mahyar Najibi,
- Charles R. Qi,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ECCV
Download PDF
PseudoAugment: Learning to Use Unlabeled Data for Data Augmentation in Point Clouds
Authors
- Zhaoqi Leng,
- Shuyang Cheng,
- Benjamin Caine,
- Weiyue Wang,
- Xiao Zhang,
- Jonathon Shlens,
- Mingxing Tan,
- Dragomir Anguelov
Filters:
- 2022,
- ECCV,
- Perception
Download PDF
Instance Segmentation with Cross-Modal Consistency
Authors
- Alex Zihao Zhu,
- Vincent Casser,
- Reza Mahjourian,
- Henrik Kretzschmar,
- Sören Pirk
Filters:
- IROS,
- Perception,
- 2022
Download PDF
Motion Inspired Unsupervised Perception and Prediction in Autonomous Driving
Authors
- Mahyar Najibi,
- Jingwei Ji,
- Yin Zhou,
- Charles R. Qi,
- Xinchen Yan,
- Scott Ettinger,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ECCV,
- Behavior Prediction
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LESS: Label-Efficient Semantic Segmentation for LiDAR Point Clouds
Authors
- Minghua Liu,
- Yin Zhou,
- Charles R. Qi,
- Boqing Gong,
- Hao Su,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ECCV
Download PDF
CramNet: Camera-Radar Fusion with Ray-Constrained Cross-Attention for Robust 3D Object Detection
Authors
- Jyh-Jing Hwang,
- Henrik Kretzschmar,
- Joshua Manela,
- Sean Rafferty,
- Nicholas Armstrong-Crews,
- Tiffany Chen,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ECCV
Download PDF
Waymo Open Dataset: Panoramic Video Panoptic Segmentation
Authors
- Jieru Mei,
- Alex Zihao Zhu,
- Xinchen Yan,
- Hang Yan,
- Siyuan Qiao,
- Yukun Zhu,
- Liang-Chieh Chen,
- Henrik Kretzschmar,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ECCV
Download PDF
SWFormer: Sparse Window Transformer for 3D Object Detection in Point Clouds
Authors
- Pei Sun,
- Mingxing Tan,
- Weiyue Wang,
- Chenxi Liu,
- Fei Xia,
- Zhaoqi Leng,
- Dragomir Anguelov
Filters:
- 2022,
- ECCV,
- Perception
Download PDF
LidarNAS: Unifying and Searching Neural Architectures for 3D Point Clouds
Authors
- Chenxi Liu,
- Zhaoqi Leng,
- Pei Sun,
- Shuyang Cheng,
- Charles R. Qi,
- Yin Zhou,
- Mingxing Tan,
- Dragomir Anguelov
Filters:
- 2022,
- ECCV,
- Perception
Download PDF
CausalAgents: A Robustness Benchmark for Motion Forecasting using Causal Relationships
Authors
- Rebecca Roelofs,
- Liting Sun,
- Benjamin Caine,
- Khaled S. Refaat,
- Ben Sapp,
- Scott Ettinger,
- Wei Chai
Filters:
- Behavior Prediction,
- 2024,
- ICRA
Download PDF
VN-Transformer: Rotation-Equivariant Attention for Vector Neurons
Authors
- Serge Assaad,
- Carlton Downey,
- Rami Al-Rfou,
- Nigamaa Nayakanti,
- Ben Sapp
Filters:
- 2022,
- arXiv,
- Behavior Prediction
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Optimizing Anchor-based Detectors for Autonomous Driving Scenes
Authors
- Xianzhi Du,
- Wei-Chih Hung,
- Tsung-Yin Lin
Filters:
- Perception,
- 2022,
- arXiv
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RIDDLE: Lidar Data Compression with Range Image Deep Delta Encoding
Authors
- Xuanyu Zhou,
- Charles R. Qi,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- CVPR
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LET-3D-AP: Longitudinal Error Tolerant 3D Average Precision for Camera-Only 3D Detection
Authors
- Wei-Chih Hung,
- Henrik Kretzschmar,
- Vincent Casser,
- Jyh-Jing Hwang,
- Dragomir Anguelov
Filters:
- Perception,
- 2024,
- ICRA
Download PDF
Block-NeRF
Authors
- Matthew Tancik,
- Vincent Casser,
- Xinchen Yan,
- Sabeek Pradhan,
- Ben Mildenhall,
- Pratul P. Srinivasan,
- Jonathan T. Barron,
- Henrik Kretzschmar
Filters:
- Perception,
- Simulation,
- 2022,
- CVPR
Download PDF
R4D: Utilizing Reference Objects for Long-Range Distance Estimation
Authors
- Yingwei Li,
- Tiffany Chen,
- Maya Kabkab,
- Ruichi Yu,
- Longlong Jing,
- Yurong You,
- Hang Zhao
Filters:
- Perception,
- 2022,
- ICLR
Download PDF
Narrowing the Coordinate-frame Gap in Behavior Prediction Models: Distillation for Efficient and Accurate Scene-centric Motion Forecasting
Authors
- DiJia Su,
- Bertrand Douillard,
- Rami Al-Rfou,
- Cheolho Park,
- Benjamin Sapp
Filters:
- Behavior Prediction,
- 2022,
- ICRA
Download PDF
Depth Estimation Matters Most: Improving Per-Object Depth Estimation for Monocular 3D Detection and Tracking
Authors
- Longlong Jing,
- Ruichi Yu,
- Henrik Kretzschmar,
- Kang Li,
- Charles R. Qi,
- Hang Zhao,
- Alper Ayvaci,
- Xu Chen,
- Dillon Cower,
- Yingwei Li,
- Yurong You,
- Han Deng,
- Congcong Li,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ICRA
Download PDF
StopNet: Scalable Trajectory and Occupancy Prediction for Urban Autonomous Driving
Authors
- Jinkyu Kim,
- Reza Mahjourian,
- Scott Ettinger,
- Mayank Bansal,
- Brandyn White,
- Ben Sapp,
- Dragomir Anguelov
Filters:
- Behavior Prediction,
- 2022,
- ICRA
Download PDF
Multi-Class 3D Object Detection with Single-Class Supervision
Authors
- Mao Ye,
- Chenxi Liu,
- Maoqing Yao,
- Weiyue Wang,
- Zhaoqi Leng,
- Charles R. Qi,
- Dragomir Anguelov
Filters:
- Perception,
- 2022,
- ICRA
Download PDF
KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Prediction
Authors
- Qiujing Lu,
- Weiqiao Han,
- Jeffrey Ling,
- Minfa Wang,
- Haoyu Chen,
- Balakrishnan Varadarajan,
- Paul Covington
Filters:
- Behavior Prediction,
- 2022,
- ICRA
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Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulation
Authors
- Maximilian Igl,
- Daewoo Kim,
- Alex Kuefler,
- Paul Mougin,
- Punit Shah,
- Kyriacos Shiarlis,
- Dragomir Anguelov,
- Mark Palatucci,
- Brandyn White,
- Shimon Whiteson
Filters:
- Simulation,
- 2022,
- ICRA
Download PDF
PolyLoss: A Polynomial Expansion Perspective of Classification Loss Functions
Authors
- Zhaoqi Leng,
- Mingxing Tan,
- Chenxi Liu,
- Ekin Dogus Cubuk,
- Xiaojie Shi,
- Shuyang Cheng,
- Dragomir Anguelov
Filters:
- Perception,
- General Machine Learning,
- 2022,
- ICLR
Download PDF
Revisiting Multi-Scale Feature Fusion for Semantic Segmentation
Authors
- Tianjian Meng,
- Golnaz Ghiasi,
- Reza Mahjorian,
- Quoc V. Le,
- Mingxing Tan
Filters:
- Perception,
- 2022,
- arXiv
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Occupancy Flow Fields for Motion Forecasting in Autonomous Driving
Authors
- Reza Mahjourian,
- Jinkyu Kim,
- Yuning Chai,
- Mingxing Tan,
- Ben Sapp,
- Dragomir Anguelov
Filters:
- Behavior Prediction
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GradTail: Learning Long-Tailed Data Using Gradient-based Sample Weighting
Authors
- Zhao Chen,
- Vincent Casser,
- Henrik Kretzschmar,
- Dragomir Anguelov
Filters:
- Perception,
- General Machine Learning
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Multi-modal 3D Human Pose Estimation with 2D Weak Supervision in Autonomous Driving
Authors
- Jingxiao Zheng,
- Xinwei Shi,
- Alexander Gorban,
- Junhua Mao,
- Yang Song,
- Charles R. Qi,
- Ting Liu,
- Visesh Chari,
- Andre Cornman,
- Yin Zhou,
- Congcong Li,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- arXiv
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Revisiting 3D Object Detection From an Egocentric Perspective
Authors
- Boyang Deng,
- Charles R. Qi,
- Mahyar Najibi,
- Thomas Funkhouser,
- Yin Zhou,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- NeurIPS
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MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction
Authors
- Balakrishnan Varadarajan,
- Ahmed Hefny,
- Avikalp Srivastava,
- Khaled S. Refaat,
- Nigamaa Nayakanti,
- Andre Cornman,
- Kan Chen,
- Bertrand Douillard,
- Chi Pang Lam,
- Dragomir Anguelov,
- Benjamin Sapp
Filters:
- Behavior Prediction,
- 2022,
- ICRA
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4D-Net for Learned Multi-Modal Alignment
Authors
- AJ Piergiovanni,
- Vincent Casser,
- Michael S. Ryoo,
- Anelia Angelova
Filters:
- Perception,
- 2021,
- ICCV
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SPG: Unsupervised Domain Adaptation for 3D Object Detection via Semantic Point Generation
Authors
- Qiangeng Xu,
- Yin Zhou,
- Weiyue Wang,
- Charles R. Qi,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- ICCV
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HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps
Authors
- Lu Mi,
- Hang Zhao,
- Charlie Nash,
- Xiaohan Jin,
- Jiyang Gao,
- Chen Sun,
- Cordelia Schmid,
- Nir Shavit,
- Yuning Chai,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- CVPR
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To the Point: Efficient 3D Object Detection in the Range Image with Graph Convolution Kernels
Authors
- Yuning Chai,
- Pei Sun,
- Jiquan Ngiam,
- Weiyue Wang,
- Benjamin Caine,
- Vijay Vasudevan,
- Xiao Zhang,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- CVPR
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RSN: Range Sparse Net for Efficient, Accurate LiDAR 3D Object Detection
Authors
- Pei Sun,
- Weiyue Wang,
- Yuning Chai,
- Gamaleldin Elsayed,
- Alex Bewley,
- Xiao Zhang,
- Cristian Sminchisescu,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- CVPR
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Scene Transformer: A unified architecture for predicting multiple agent trajectories
Authors
- Jiquan Ngiam,
- Benjamin Caine,
- Vijay Vasudevan,
- Zhengdong Zhang,
- Hao-Tien Lewis Chiang,
- Jeffrey Ling,
- Rebecca Roelofs,
- Alex Bewley,
- Chenxi Liu,
- Ashish Venugopal,
- David Weiss,
- Ben Sapp,
- Zhifeng Chen,
- Jonathon Shlens
Filters:
- Behavior Prediction,
- 2022,
- ICLR
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SMURF: Self-Teaching Multi-Frame Unsupervised RAFT with Full-Image Warping
Authors
- Austin Stone,
- Daniel Maurer,
- Alper Ayvaci,
- Anelia Angelova,
- Rico Jonschkowski
Filters:
- Perception,
- 2021,
- CVPR
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Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset
Authors
- Scott Ettinger,
- Shuyang Cheng,
- Benjamin Caine,
- Chenxi Liu,
- Hang Zhao,
- Sabeek Pradhan,
- Yuning Chai,
- Ben Sapp,
- Charles Qi,
- Yin Zhou,
- Zoey Yang,
- Aurelien Chouard,
- Pei Sun,
- Jiquan Ngiam,
- Vijay Vasudevan,
- Alexander McCauley,
- Jonathon Shlens,
- Dragomir Anguelov
Filters:
- Behavior Prediction,
- 2021,
- ICCV
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Identifying Driver Interactions via Conditional Behavior Prediction
Authors
- Ekaterina Tolstaya,
- Reza Mahjourian,
- Carlton Downey,
- Balakrishnan Varadarajan,
- Benjamin Sapp,
- Dragomir Anguelov
Filters:
- Behavior Prediction,
- 2021,
- ICRA
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3D-MAN: 3D Multi-frame Attention Network for Object Detection
Authors
- Zetong Yang,
- Yin Zhou,
- Zhifeng Chen,
- Jiquan Ngiam
Filters:
- Perception,
- 2021,
- CVPR
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Offboard 3D Object Detection from Point Cloud Sequences
Authors
- Charles R. Qi,
- Yin Zhou,
- Mahyar Najibi,
- Pei Sun,
- Khoa Vo,
- Boyang Deng,
- Dragomir Anguelov
Filters:
- Perception,
- 2021,
- CVPR
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Pseudo-labeling for Scalable 3D Object Detection
Authors
- Benjamin Caine,
- Rebecca Roelofs,
- Vijay Vasudevan,
- Jiquan Ngiam,
- Yuning Chai,
- Zhifeng Chen,
- Jonathon Shlens
Filters:
- Perception,
- 2021,
- arXiv
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Scalable Scene Flow from Point Clouds in the Real World
Authors
- Philipp Jund,
- Chris Sweeney,
- Nichola Abdo,
- Zhifeng Chen,
- Jonathon Shlens
Filters:
- Perception
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Unsupervised Monocular Depth Learning in Dynamic Scenes
Authors
- Hanhan Li,
- Ariel Gordon,
- Hang Zhao,
- Vincent Casser,
- Anelia Angelova
Filters:
- Perception,
- 2020,
- CoRL
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Just Pick a Sign: Optimizing Deep Multitask Models with Gradient Sign Dropout
Authors
- Zhao Chen,
- Jiquan Ngiam,
- Yanping Huang,
- Thang Luong,
- Henrik Kretzschmar,
- Yuning Chai,
- Dragomir Anguelov
Filters:
- Perception,
- General Machine Learning,
- NeurIPS,
- 2020
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TNT: Target-driveN Trajectory Prediction
Authors
- Hang Zhao,
- Jiyang Gao,
- Tian Lan,
- Chen Sun,
- Benjamin Sapp,
- Balakrishnan Varadarajan,
- Yue Shen,
- Yi Shen,
- Yuning Chai,
- Cordelia Schmid,
- Congcong Li,
- Dragomir Anguelov
Filters:
- Behavior Prediction,
- CoRL,
- 2020
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SoDA: Multi-Object Tracking with Soft Data Association
Authors
- Wei-Chih Hung,
- Henrik Kretzschmar,
- Tsung-Yi Lin,
- Yuning Chai,
- Ruichi Yu,
- Ming-Hsuan Yang,
- Dragomir Anguelov
Filters:
- Perception,
- 2020,
- arXiv
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Can weight sharing outperform random architecture search? An investigation with TuNAS
Authors
- Gabriel Bender,
- Hanxiao Liu,
- Bo Chen,
- Grace Chu,
- Shuyang Cheng,
- Pieter-Jan Kindermans,
- Quoc Le
Filters:
- Perception,
- 2020,
- CVPR
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Range Conditioned Dilated Convolutions for Scale Invariant 3D Object Detection
Authors
- Alex Bewley,
- Pei Sun,
- Thomas Mensink,
- Dragomir Anguelov,
- Cristian Sminchisescu
Filters:
- Perception,
- 2020,
- ECCV
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Taskology: Utilizing Task Relations at Scale
Authors
- Yao Lu,
- Sören Pirk,
- Jan Dlabal,
- Anthony Brohan,
- Ankita Pasad,
- Zhao Chen,
- Vincent Casser,
- Anelia Angelova,
- Ariel Gordon
Filters:
- Perception,
- 2021,
- CVPR
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Attentional Bottleneck: Towards an Interpretable Deep Driving Network
Authors
- Jinkyu Kim,
- Mayank Bansal
Filters:
- Behavior Prediction,
- 2020,
- CVPR
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VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation
Authors
- Jiyang Gao,
- Chen Sun,
- Hang Zhao,
- Yi Shen,
- Dragomir Anguelov,
- Congcong Li,
- Cordelia Schmid
Filters:
- Behavior Prediction,
- 2020,
- CVPR
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STINet: Spatio-Temporal-Interactive Network for Pedestrian Detection and Trajectory Prediction
Authors
- Zhishuai Zhang,
- Jiyang Gao,
- Junhua Mao,
- Yukai Liu,
- Dragomir Anguelov,
- Congcong Li
Filters:
- Perception,
- 2020,
- CVPR
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SurfelGAN: Synthesizing Realistic Sensor Data for Autonomous Driving
Authors
- Zhenpei Yang,
- Yuning Chai,
- Dragomir Anguelov,
- Yin Zhou,
- Pei Sun,
- Dumitru Erhan,
- Sean Rafferty,
- Henrik Kretzschmar
Filters:
- Perception,
- Simulation,
- 2020,
- CVPR
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Streaming Object Detection for 3-D Point Clouds
Authors
- Wei Han,
- Zhengdong Zhang,
- Benjamin Caine,
- Brandon Yang,
- Christoph Sprunk,
- Ouais Alsharif,
- Jiquan Ngiam,
- Vijay Vasudevan,
- Jonathon Shlens,
- Zhifeng Chen
Filters:
- Perception,
- 2020,
- ECCV
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Improving 3D Object Detection through Progressive Population Based Augmentation
Authors
- Shuyang Cheng,
- Zhaoqi Leng,
- Ekin Dogus Cubuk,
- Barret Zoph,
- Chunyan Bai,
- Jiquan Ngiam,
- Yang Song,
- Benjamin Caine,
- Vijay Vasudevan,
- Congcong Li,
- Quoc V. Le,
- Jonathon Shlens,
- Dragomir Anguelov
Filters:
- Perception,
- 2020,
- ECCV
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Scalability in Perception for Autonomous Driving: Waymo Open Dataset
Authors
- Pei Sun,
- Henrik Kretzschmar,
- Xerxes Dotiwalla,
- Aurelien Chouard,
- Vijaysai Patnaik,
- Paul Tsui,
- James Guo,
- Yin Zhou,
- Yuning Chai,
- Benjamin Caine,
- Vijay Vasudevan,
- Wei Han,
- Jiquan Ngiam,
- Hang Zhao,
- Aleksei Timofeev,
- Scott Ettinger,
- Maxim Krivokon,
- Amy Gao,
- Aditya Joshi,
- Sheng Zhao,
- Shuyang Cheng,
- Yu Zhang,
- Jonathon Shlens,
- Zhifeng Chen,
- Dragomir Anguelov
Filters:
- Perception,
- 2020,
- CVPR
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End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Clouds
Authors
- Yin Zhou,
- Pei Sun,
- Yu Zhang,
- Dragomir Anguelov,
- Jiyang Gao,
- Tom Ouyang,
- James Guo,
- Jiquan Ngiam,
- Vijay Vasudevan
Filters:
- Perception,
- CoRL,
- 2019
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MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction
Authors
- Yuning Chai,
- Benjamin Sapp,
- Mayank Bansal,
- Dragomir Anguelov
Filters:
- Behavior Prediction,
- CoRL,
- 2019
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StarNet: Targeted Computation for Object Detection in Point Clouds
Authors
- Jiquan Ngiam,
- Benjamin Caine,
- Wei Han,
- Brandon Yang,
- Yuning Chai,
- Pei Sun,
- Yin Zhou,
- Xi Yi,
- Ouais Alsharif,
- Patrick Nguyen,
- Zhifeng Chen,
- Jonathon Shlens,
- Vijay Vasudevan
Filters:
- Perception,
- NeurIPS,
- 2019
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ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst
Authors
- Mayank Bansal,
- Alex Krizhevsky,
- Abhijit Ogale
Filters:
- Planning,
- 2019,
- RSS
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